Infrastructure to vehicle position verification

ABSTRACT

Methods and systems are provided for determining a position of a vehicle. In one example, the vehicle includes one or more wheels; a drive system configured to power the one or more wheels; a receiver installed onboard the vehicle, the receiver configured to receive location information from a infrastructure element in proximity to the vehicle; and a processor installed onboard the vehicle, the processor configured to determine a position of the vehicle using the location information from the infrastructure element.

TECHNICAL FIELD

The technical field generally relates to the field of vehicles and, morespecifically, to methods and systems for utilizing infrastructure tovehicle communications to verify a position of the vehicle.

BACKGROUND

Today's vehicles often utilize techniques for ascertaining a position ofthe vehicle, for example using global navigation satellite systems(GNSS) and/or dead reckoning techniques. However, existing techniquesmay not always provide optimal position results, for example when thevehicle is in a location in which GNSS signals are blocked and/or inwhich calibration of dead reckoning sensors may be difficult (e.g., in atunnel, a parking garage, and so on).

Accordingly, it is desirable to provide improved methods and systems forascertaining a position of a vehicle. Furthermore, other desirablefeatures and characteristics of the present invention will becomeapparent from the subsequent detailed description of the invention andthe appended claims, taken in conjunction with the accompanying drawingsand this background of the invention.

SUMMARY

In accordance with an exemplary embodiment, a method is provided. Themethod includes obtaining, via a receiver onboard a vehicle, locationinformation from a infrastructure element in proximity to the vehicle;and determining, via a processor onboard the vehicle, a position of thevehicle using the location information from the infrastructure element.

In accordance with another exemplary embodiment, a system is provided.The system includes a receiver and a processor. The receiver isconfigured to be installed onboard a vehicle, and to receive locationinformation from a infrastructure element in proximity to the vehicle.The processor is configured to be installed onboard the vehicle, and todetermine a position of the vehicle using the location information fromthe infrastructure element.

In accordance with a further exemplary embodiment, a vehicle isprovided. The vehicle includes one or more wheels; a drive systemconfigured to power the one or more wheels; a receiver installed onboardthe vehicle, the receiver configured to receive location informationfrom a infrastructure element in proximity to the vehicle; and aprocessor installed onboard the vehicle, the processor configured todetermine a position of the vehicle using the location information fromthe infrastructure element.

DESCRIPTION OF THE DRAWINGS

The present disclosure will hereinafter be described in conjunction withthe following drawing figures, wherein like numerals denote likeelements, and wherein:

FIG. 1 is a functional block diagram of a vehicle depicted alongside aninfrastructure element in proximity to the vehicle, the vehicleincluding a position system for ascertaining a position of the vehicleusing information obtained from the infrastructure element, inaccordance with an exemplary embodiment;

FIG. 2 is a flowchart of a process for ascertaining a location of avehicle using information obtained form an infrastructure element, andthat can be implemented in connection with the vehicle, the positionsystem, and the infrastructure element of FIG. 1, in accordance with anexemplary embodiment;

FIG. 3 provides an illustration of an exemplary implementation of theprocess of FIG. 2, using a first infrastructure element comprising atunnel, in accordance with an exemplary embodiment; and

FIG. 4 provides an illustration of an exemplary implementation of theprocess of FIG. 2, using a second infrastructure element comprising abuilding parking garage, in accordance with an exemplary embodiment.

DETAILED DESCRIPTION

The following detailed description is merely exemplary in nature and isnot intended to limit the disclosure or the application and usesthereof. Furthermore, there is no intention to be bound by any theorypresented in the preceding background or the following detaileddescription.

FIG. 1 illustrates a vehicle 100, according to an exemplary embodiment.The vehicle is illustrated along with an infrastructure element 102 thatis disposed in proximity to the vehicle 100. The infrastructure element102 includes a transmitter 104 that provides information to the vehicle100 via one or more communication networks 103 (e.g., a short rangewireless communication network, in one embodiment). In variousembodiments, the infrastructure element 102 may comprise a tunnel, abridge, a building, a parking garage, a traffic light, a stop sign, astreet sign, a road divider or barrier, and/or any other number ofdifferent types of elements associated with infrastructure that may bepart of, associated with, and/or surrounding vehicles, roadways, and/orlocations by which vehicles travel. In various embodiments, theinfrastructure element 102 transmits information to the vehicle 100(e.g., including a position or location of the infrastructure element102 and/or the vehicle 100, a heading of the vehicle 100 and/orinformation relating thereto, such as a lane, tunnel, portion, orcomponent of the infrastructure element 102 via which the vehicle 100 istravelling, and so on) using the transmitter 104, via the communicationnetwork 103.

As described in greater detail further below, the vehicle 100 includesvarious components that assist in ascertaining a position of the vehicle100, utilizing information provided by the infrastructure element 102,in accordance with an exemplary embodiment. Also as described furtherbelow, in certain embodiments such components may collectively comprisea position system 140 for ascertaining the position of the vehicle 100,for example as discussed further below in connection with FIG. 1 as wellas FIGS. 2-4.

In various embodiments, the vehicle 100 comprises an automobile. Thevehicle 100 may be any one of a number of different types ofautomobiles, such as, for example, a sedan, a wagon, a truck, or a sportutility vehicle (SUV), and may be two-wheel drive (2WD) (i.e.,rear-wheel drive or front-wheel drive), four-wheel drive (4WD) orall-wheel drive (AWD), and/or various other types of vehicles in certainembodiments. In certain embodiments, the vehicle 100 may also comprise amotorcycle or other vehicle.

The vehicle 100 includes a body 106 that is arranged on a chassis 110.The body 106 substantially encloses other components of the vehicle 100.The body 106 and the chassis 110 may jointly form a frame. The vehicle100 also includes a plurality of wheels 108. The wheels 108 are eachrotationally coupled to the chassis 110 near a respective corner of thebody 106 to facilitate movement of the vehicle 100. In one embodiment,the vehicle 100 includes four wheels 108, although this may vary inother embodiments (for example for trucks and certain other vehicles).

A drive system 112 is mounted on the chassis 110, and drives the wheels108 (including the wheels 108). In various embodiments, the drive system112 comprises one of a number of different types of propulsion system.In certain exemplary embodiments, the drive system 112 comprises aninternal combustion engine and/or an electric motor/generator, coupledwith a transmission thereof. In certain embodiments, the drive system112 may vary, and/or two or more drive systems 112 may be used. By wayof example, the vehicle 100 may also incorporate any one of, orcombination of, a number of different types of propulsion systems, suchas, for example, a gasoline or diesel fueled combustion engine, a “flexfuel vehicle” (FFV) engine (i.e., using a mixture of gasoline andalcohol), a gaseous compound (e.g., hydrogen and/or natural gas) fueledengine, a combustion/electric motor hybrid engine, and an electricmotor.

As depicted in FIG. 1, in various embodiments the vehicle 100 alsoincludes a short range antenna 114, a GNSS antenna 116, a short rangereceiver 118, a GNSS receiver 119, a sensor array 120, a computer system128, a user interface 130, a mapping database 132, and a power source134. It will be appreciated that certain of these features may vary indifferent embodiments. In addition, in certain embodiments, some or allof these features may be collectively referred to as being part of theposition system 140 for ascertaining the position of the vehicle 100,for example as discussed further below in connection with FIG. 1 as wellas FIGS. 2-4.

In various embodiments, the short range antenna 114 and the short rangereceiver 118 receive short range wireless communications. In variousembodiments, the short range antenna 114 and the short range receiver118 receive wireless communications (including wireless, electronicmessages including information as to a position and a heading of thevehicle 100) from the infrastructure element 102 via the communicationnetwork 103. In one embodiment, the short range antenna 114 comprises adigital short range communication (DSRC) antenna, and the short rangereceiver 118 comprises a DSRC receiver; however, this may vary in otherembodiments.

In various embodiments, the GNSS antenna 116 and the GNSS receiver 119receive wireless communications from one or more satellite-based GNSSsystems, such as a global positioning system (GPS) system and/or one ormore other types of GNSS systems, for determining a position of thevehicle 100. In one embodiment, the GNSS antenna 116 comprises a GPSantenna, and the GNSS receiver 119 comprises a GPS receiver; however,this may vary in other embodiments.

As depicted in FIG. 1, in various embodiments the sensor array 120includes one or more accelerometers 122, speed sensors 124, and headingsensors 126. The accelerometers measure an acceleration of the vehicle100. The speed sensors 124 measure one or more speeds of the vehicle100. In certain embodiments, the speed sensors 124 comprise wheel speedsensors that are coupled to respective wheels 108 of the vehicle 100,and measure wheel speed and/or other information that may be used indetermining a speed for the vehicle 100. The heading sensors 126 measurea heading, or direction of travel, of the vehicle 100. In accordancewith various embodiments, the sensors of the sensor array 120 providethis information to the computer system 128 (e.g., to the processor 136thereof, discussed below), for processing.

The computer system 128 provides instructions and executes processes fordetermining a position of the vehicle 100. In various embodiments, thecomputer system 128 provides these functions using information providedby the short range antenna 114, the GNSS antenna, the short rangereceiver 118, the GNSS receiver 119, the sensor array 120, the userinterface 130, and the mapping database 132. In various embodiments, thecomputer system 128 provides these functions in accordance with theprocess 200 described further below in connection with FIGS. 2-4. Invarious embodiments, the computer system 128 is disposed within the body106 of the vehicle 100. In one embodiment, the computer system 128 ismounted on the chassis 110.

Also as depicted in FIG. 1, in various embodiments the computer system128 includes a processor 136, a memory 138, and interface hardware 138.In various embodiments, the processor 136 comprises an applicationprocessor, and performs the computation and control functions of thecomputer system 128. In various embodiments, the processor 136 maycomprise any type of processor or multiple processors, single integratedcircuits such as a microprocessor, or any suitable number of integratedcircuit devices and/or circuit boards working in cooperation toaccomplish the functions of a processing unit. During operation, theprocessor 136 executes one or more programs 142 contained within thememory 138 and, as such, controls the general operation of the computersystem 128 and the computer system of the computer system 128, generallyin executing the processes described herein, such as the process 200described further below in connection with FIGS. 2-5.

The memory 138 can be any type of suitable memory. For example, thememory 138 may include various types of dynamic random access memory(DRAM) such as SDRAM, the various types of static RAM (SRAM), and thevarious types of non-volatile memory (PROM, EPROM, and flash). Incertain examples, the memory 138 is located on and/or co-located on thesame computer chip as the processor 136. In the depicted embodiment, thememory 138 stores the above-referenced program 142 along with one ormore stored values pertaining to possible locations of the vehicle 100.

The interfacing hardware 140 allows communication to the computer systemof the computer system 128, for example from a system driver and/oranother computer system, and can be implemented using any suitablemethod and apparatus. In one embodiment, the interfacing hardware 140obtains the various data from the sensors of the sensor array 120 and/orthe receivers 118, 119. The interfacing hardware 140 can include one ormore network interfaces to communicate with other systems or components.The interfacing hardware 140 may also include one or more networkinterfaces to communicate with technicians, and/or one or more storageinterfaces to connect to storage apparatuses, such as the storage device146.

In certain embodiments, the computer system 128 may also include otherfeatures, such as a bus 144 and storage device 146. The bus 144 servesto transmit programs, data, status and other information or signalsbetween the various components of the computer system of the computersystem 128. The bus 144 can be any suitable physical or logical means ofconnecting computer systems and components. This includes, but is notlimited to, direct hard-wired connections, fiber optics, infrared andwireless bus technologies.

The storage device 146 can be any suitable type of storage apparatus,including direct access storage devices such as hard disk drives, flashsystems, floppy disk drives and optical disk drives. In one exemplaryembodiment, the storage device 146 comprises a program product fromwhich memory 138 can receive a program 142 that executes one or moreembodiments of one or more processes of the present disclosure, such asthe steps of the process 200 (and any sub-processes thereof) describedfurther below in connection with FIGS. 2-4. In another exemplaryembodiment, the program product may be directly stored in and/orotherwise accessed by the memory 138 and/or a disk (e.g., a disk), suchas that referenced below. In certain embodiments, the storage may alsobe provided remotely, for example through cloud storage, such as via aremote telematics, assistance, and/or other service. During operation,the program 142 is stored in the memory 138 and executed by theprocessor 136.

It will be appreciated that while this exemplary embodiment is describedin the context of a fully functioning computer system, those skilled inthe art will recognize that the mechanisms of the present disclosure arecapable of being distributed as a program product with one or more typesof non-transitory computer-readable signal bearing media used to storethe program and the instructions thereof and carry out the distributionthereof, such as a non-transitory computer readable medium bearing theprogram and containing computer instructions stored therein for causinga computer processor (such as the processor 136) to perform and executethe program. Such a program product may take a variety of forms, and thepresent disclosure applies equally regardless of the particular type ofcomputer-readable signal bearing media used to carry out thedistribution. Examples of signal bearing media include: recordable mediasuch as floppy disks, hard drives, memory cards and optical disks, andtransmission media such as digital and analog communication links. Itwill be appreciated that cloud-based storage and/or other techniques mayalso be utilized in certain embodiments. It will similarly beappreciated that the computer system of the computer system 128 may alsootherwise differ from the embodiment depicted in FIG. 1, for example inthat the computer system of the computer system 128 may be coupled to ormay otherwise utilize one or more remote computer systems and/or othercontrol systems.

In various embodiments, the user interface 130 enables a driver,operator, or other user of the vehicle 100 to communicate with thecomputer system 128. In certain embodiments, the user may provideinstructions or requests (e.g., pertaining to the location of thevehicle 100) to the computer system 128 via the user interface 130. Alsoin certain embodiments, the user interface 130 may provide information(e.g., as to the position of the vehicle 100) to the user, for examplebased on instructions provided by the processor 136. In variousembodiments, the user interface 130 comprises one or more displayscreens, buttons, knobs, keyboards, microphones, speakers, smart phones,tablets, other electronic devices, and/or other devices forcommunicating with a user of the vehicle 100. In certain embodiments,the user interface 130 may also represent the user's personal electronicdevice.

In various embodiments, the mapping database 132 includes informationfrom maps and/or other data sources pertaining to geographic areas inwhich the vehicle 100 may travel, including roadways, infrastructureelements pertaining thereto, and the like. In certain embodiments, themapping database 132 may be part of the computer system 128 (e.g., aspart of the memory 138) and/or may be coupled thereto.

In various embodiments, the power source 134 provides power for one ormore components of the vehicle 100, and/or for the position system 140.In the depicted embodiment, the power source 134 provides power for theGNSS receiver 118 and the computer system 128.

FIG. 2 is a flowchart of a process 200 for determining a position of avehicle. The process 200 can be implemented in connection with thevehicle 100, the position system 140 and components thereof, and theinfrastructure element 102 of FIG. 1, in accordance with an exemplaryembodiment. In one embodiment, the process 200 begins when a vehicledrive or ignition cycle begins (for example when a driver approaches orenters the vehicle, or when the driver turns on the vehicle and/or anignition therefor, e.g., by turning a key, engaging a keyfob or startbutton, and so on), and continues throughout the duration of the vehicledrive or ignition cycle. The process 200 is also discussed below inconnection with FIGS. 3 and 4, which provide illustrations of exemplaryinfrastructure elements that can be utilized in connection with theprocess 200.

As depicted in FIG. 2, in one embodiment, vehicle data is obtained atstep 202. In various embodiments, vehicle data is pertained to variousparameters pertaining to operation of the vehicle 100, including wheelspeed and vehicle speed (e.g., as obtained via the speed sensors 124 ofFIG. 1), vehicle acceleration (e.g., as obtained via the accelerometers122 of FIG. 1), a first value of a position of the vehicle 100 (e.g., asobtained via the GNSS antenna 116 and the GNSS receiver 119 of FIG. 1),and a heading of the vehicle 100 (e.g., as obtained via the headingsensor 126 of FIG. 1). In certain embodiments, the vehicle data isobtained via a message along a communication link, such as thecommunication link 109 of FIG. 1, and/or via a CAN bus. In certain otherembodiments, the vehicle data may be obtained via one or more othermanners, such as a wireless connection.

A first position value and a first heading value for the vehicle arecalculated at step 206. In one embodiment, position data from the GNSSantenna 116 and the GNSS receiver 119 of FIG. 1 are utilized by theprocessor 136 of FIG. 1 to calculate a first position value and a firstheading value as to a position and heading (e.g., the present geographiclocation and direction of travel of) the vehicle 100. In certain otherembodiments, the first position value and the first heading value may bedetermined by a satellite-based navigation itself and received at thevehicle 100 via the GNSS antenna 116 and the GNSS receiver 119, alongwith dead-reckoning techniques, for example using the vehicle data ofstep 204 and the mapping database 132 of FIG. 1. In various embodiments,the first position value and the first heading value comprise values asto a three dimensional position, or current geographical location, anddirection of travel with respect to the three dimensional position,respectively, of the vehicle 100.

Communications are received at the vehicle 100 from one or moreinfrastructure elements at step 208. In various embodiments, electronicmessages are received, via the short range antenna 114 and the shortrange receiver 118 of FIG. 1, from the transmitter 104 of theinfrastructure element 102 of FIG. 1, via the wireless communicationnetwork 103 of FIG. 1. In addition, in various embodiments, theelectronic messages include information as to a current position (e.g.,geographic location) of the vehicle 100 as well as a current heading(e.g., direction of travel) of the vehicle 100 as the vehicle 100 istravelling within, or in proximity to, the infrastructure element 102.Also in certain embodiments, additional parameters may also be includedin the electronic messages, such as a precise location in theinfrastructure element 102 (e.g., bridge, tunnel, and so on) in whichthe vehicle 100 is travelling, and the like. In various embodiments, thecurrent position and current heading as received from the electronicmessage from the infrastructure element 102 comprise values as to athree dimensional position, or current geographical location, and aheading, or direction of travel, with respect thereto, of the vehicle100. Also in certain embodiments, the information is analyzed by theprocessor 136 of FIG. 1 with respect to information from the mappingdatabase 132 of FIG. 1.

A determination is made at step 210 as to whether the current positionreceived at 208 is different from the calculated first position value of206. In one embodiment, this determination is made by the processor 136of FIG. 1. In certain embodiments, this determination may comprisewhether a difference between the received current position of 208 andthe calculated first position value of 206 is greater than apredetermined threshold. In one embodiment, the predetermined thresholdis equal to 1.5 meters; however, this may vary in other embodiments.

If it is determined that the current position received at step 208 isnot different from the calculated first position value of step 206, thenin one embodiment the process 200 terminates at step 224. In oneembodiment, as the process 200 terminates, the vehicle 100 continues touse the first position value from step 206 (and, in certain embodiments,as further updated using dead-reckoning techniques, for example usingthe vehicle data of step 204 and the mapping database 132 of FIG. 1) forcontinued operation of the vehicle 100.

Conversely, if it is determined that the current position received atstep 208 is different from the calculated first position value of step206, then in one embodiment at step 212 the vehicle position is setequal to the received current position value of step 208. In oneembodiment, this is performed via the processor 136 of FIG. 1, and thereceived current position value is stored in the memory 138 of FIG. 1.In certain embodiments, one example is a snap, in which a vehicle icon(e.g., on a display) suddenly jumps to a new position instead of asmooth motion. In one embodiment, the first position value of step 206is replaced with the received current position value of step 208.

A determination is made at step 214 as to whether the current headingreceived at 208 is different from the calculated first heading value ofstep 206. In one embodiment, this determination is made by the processor136 of FIG. 1. In certain embodiments, this determination may comprisewhether a difference between the received current heading of step 208and the calculated first heading value of step 206 is greater than apredetermined threshold. In certain embodiments, one example is an iconrepresenting a vehicle or its heading (e.g., on a display) suddenlychanges its orientation (heading). In one embodiment, the first headingvalue of step 208 is replaced with the received current heading value ofstep 208). For example, without the process 200, the heading orientationof a particular vehicle may be compromised in certain situations, forexample after the vehicle travels down several ramps of a parkingstructure. For example, in one embodiment, without the process 200, avehicle system may compute the vehicle as heading South when the actualheading out of the garage is East, by way of example. However, with theprocess 200 (and the vehicle 100, including the position system 140, ofFIG. 1) the position is corrected by the processor 136 of FIG. 1, andthe heading is set to the correct setting by the processor 136 ofFIG. 1. In addition, if the GNSS services is not yet available, then incertain embodiments the vehicle 100 can now utilize dead reckoningtechniques with while using the correct position as the starting point,until a GNSS heading can be computed.

If it is determined that the current heading received at step 208 is notdifferent from the calculated first heading value of step 206, then inone embodiment the process 200 terminates at step 224. In oneembodiment, as the process 200 terminates following step 214, thevehicle 100 continues to use the first heading value from step 206, butalso uses the substituted position value of step 212, (and, in certainembodiments, as further updated using dead-reckoning techniques, forexample using the vehicle data of step 204 and the mapping database 132of FIG. 1) for continued operation of the vehicle 100.

Conversely, if it is determined that the current heading received atstep 208 is different from the calculated first position value of step206, then in one embodiment at step 216 the vehicle heading is set equalto the received heading value of step 206. In one embodiment, this isperformed via the processor 136 of FIG. 1, and the received currentheading value is stored in the memory 138 of FIG. 1.

A determination is made at step 218 as to whether there are any otherparameters in the received data. In one embodiment, this determinationis made by the processor 136 of FIG. 1. In certain embodiments, theadditional parameters may include information as to other specificationindications pertaining to a current position and/or heading of thevehicle 100 (e.g., as to exactly where within a parking garage, tunnel,and/or other infrastructure element 102 the vehicle 100 is locationand/or is travelling, and so on).

If it is determined that there are no other parameters in the receiveddata, then in one embodiment the process 200 terminates at step 224. Inone embodiment, as the process 200 terminates following step 218, thevehicle 100 continues to use the substituted position value of step 212and the substituted heading value of step 216, (and, in certainembodiments, as further updated using dead-reckoning techniques, forexample using the vehicle data of step 204 and the mapping database 132of FIG. 1) for continued operation of the vehicle 100.

Conversely, if it is determined that there are no other parameters inthe received data, then in step 220 in various embodiments one or morevehicle parameters are set equal to the received values from theinfrastructure to vehicle communications of step 208. For example, incertain embodiments, vehicles parameters may be updated to indicateexactly where within a parking garage, tunnel, and/or otherinfrastructure element 102 the vehicle 100 is location and/or istravelling, and so on).

In one embodiment, following step 220, the process 200 terminates atstep 224. In one embodiment, as the process 200 terminates followingstep 220, the vehicle 100 continues to use the substituted positionvalue of step 212, the substituted heading value of step 216, and thesubstituted (or new) parameter values of step 220 (and, in certainembodiments, as further updated using dead-reckoning techniques, forexample using the vehicle data of step 204 and the mapping database 132of FIG. 1) for continued operation of the vehicle 100.

As noted above, FIGS. 3 and 4 which provide illustrations of exemplaryinfrastructure elements that can be utilized in connection with theprocess 200, in accordance with exemplary embodiments.

First, FIG. 3 provides an illustration in which the infrastructureelement comprises a tunnel 300, in accordance with an exemplaryembodiment. As shown in FIG. 3, the exemplary tunnel 300 of FIG. 3includes three lanes, namely, a first lane 302, a second lane 304, and athird lane 306. In various embodiments, the transmitter(s) of the tunnel300 provide separate first, second, and third signals 308, 310, and 312,corresponding to the respective lane 302, 304, or 306 in which thevehicle 100 is travelling. Accordingly, in various embodiments, thevehicle 100 will receive specific information as to the specific lane ofthe tunnel 300, along with a heading indicating the direction of travelof the vehicle 100 as it is travelling through the tunnel 300.

By way of example, in one embodiment the tunnel 300 comprises a tunnelhaving not just multiple lanes, but specifically different tubes, witheach tube having at least one lane (such as the Lincoln Park Tunnel isNew York, which has three different tubes, two lanes in each tube, butdifferent end points between the end and center tubes. In certainembodiments (e.g., in the case of the Lincoln Park Tunnel) the tubes mayhave different exit points (e.g., if a vehicle 100 is in one tube thenthe vehicle 100 will exit the tunnel 300 in a South direction; and ifthe vehicle 100 is in another tube then the vehicle 100 will exist thetunnel 300 in a North direction, or the like). It will be appreciatedthat the number of lanes, tubes, and/or exits may vary in differentembodiments. In either case, the information provided from the tunnel300 to the vehicle 100 is utilized by the vehicle 100 for determiningthe current position and heading for the vehicle 100, among possibleother parameters for the vehicle 100.

Next, FIG. 4 provides an illustration in which the infrastructureelement comprises a parking garage 400, in accordance with anotherexemplary embodiment. As shown in FIG. 4, the exemplary parking garage400 of FIG. 4 includes multiple lanes, including an entry lane 402 andan exit lane 404. In various embodiments, the transmitter(s) of theparking garage 400 provide separate respective signals 406, 408 for theentry lane 402 and the exit lane 404, respectively, corresponding to therespective lane 402, 404 in which the vehicle 100 is travelling.Accordingly, in various embodiments, the vehicle 100 will receivespecific information as to the specific lane of the parking garage 400,along with a heading indicating the direction of travel of the vehicle100 as it is travelling through the parking garage 400.

In certain embodiments, different lanes and/or locations of the parkinggarage 400 may lead to respective exits that are in differentdirections. For example, similar to the earlier discussion, without theprocess 200, the heading orientation of a particular vehicle may becompromised in certain situations, for example after the vehicle travelsdown several ramps of a parking structure. For example, in oneembodiment, without the process 200, a vehicle system may compute thevehicle as heading South when the actual heading out of the garage isEast, by way of example. However, in accordance with the process 200 andthe vehicle 100 (including the position system 140 thereof) of thepresent Application, when this occurs, then in various embodiments theposition of the vehicle 100 is corrected by the processor 136 of FIG. 1,and the heading of the vehicle 100 is set to the correct setting by theprocessor 136. In addition, if the GNSS services is not yet available,then the vehicle can utilize dead reckoning techniques using the correctposition value as a starting point, in certain embodiments. In any case,the information provided from the parking garage 400 to the vehicle 100is utilized by the vehicle 100 for determining the current position andheading for the vehicle 100, among possible other parameters for thevehicle 100.

Accordingly, methods, systems, and vehicles are provided for determininga position of a vehicle. In various embodiments, electronic messages arereceived from infrastructure elements in proximity to the vehicle, withthe electronic messages including information as to a current positionand a current heading of the vehicle, among other possible parameters.Also in various embodiments, a processor of the vehicle determines aposition of the vehicle, and in certain embodiments also a heading ofthe vehicle and other parameters of the vehicle, using the informationobtained in the electronic messages from the infrastructure element.

It will be appreciated that the systems, vehicles, and methods may varyfrom those depicted in the Figures and described herein. For example,the vehicle 100, the position system 140, and/or various componentsthereof may vary from that depicted in FIGS. 1-4 and described inconnection therewith, in various embodiments. It will similarly beappreciated that the steps of the process 200 may differ from thosedepicted in FIGS. 2-4, and/or that various steps of the process 200 mayoccur concurrently and/or in a different order than that depicted inFIGS. 2-4, in various embodiments.

While at least one exemplary embodiment has been presented in theforegoing detailed description, it should be appreciated that a vastnumber of variations exist. It should also be appreciated that theexemplary embodiment or exemplary embodiments are only examples, and arenot intended to limit the scope, applicability, or configuration of thedisclosure in any way. Rather, the foregoing detailed description willprovide those skilled in the art with a convenient road map forimplementing the exemplary embodiment or exemplary embodiments. Itshould be understood that various changes can be made in the functionand arrangement of elements without departing from the scope of thedisclosure as set forth in the appended claims and the legal equivalentsthereof.

What is claimed is:
 1. A method comprising: obtaining, via a receiveronboard a vehicle, location information from a infrastructure element inproximity to the vehicle; and determining, via a processor onboard thevehicle, a position of the vehicle using the location information fromthe infrastructure element.
 2. The method of claim 1, furthercomprising: obtaining, via the receiver onboard the vehicle, headinginformation from the infrastructure element in proximity to the vehicle;and determining, via the processor onboard the vehicle, a heading of thevehicle using the heading information from the infrastructure element.3. The method of claim 1, further comprising: obtaining a first positionvalue for the vehicle using a satellite based navigation system; andupdating the first position value using the position of the vehicle asdetermined using the location information from the infrastructureelement.
 4. The method of claim 1, further comprising: replacing thefirst position value with the position of the vehicle as determinedusing the location information from the infrastructure element, when thesatellite based navigation system is unavailable.
 5. The method of claim1, wherein: the step of obtaining the location information comprises,obtaining, via the receiver onboard the vehicle, location informationfrom the infrastructure element in proximity to the vehicle, from atransmitter of the infrastructure element via a message transmitted fromthe infrastructure element to the vehicle via a short-range wirelessconnection, wherein the infrastructure element comprises aninfrastructure element of a roadway on which the vehicle is travelling;and the step of determining the position of the vehicle comprisesdetermining, via the processor onboard the vehicle, the position of thevehicle using the location information from the infrastructure elementof the roadway on which the vehicle is travelling.
 6. The method ofclaim 1, wherein: the step of obtaining the location informationcomprises, obtaining, via the receiver onboard the vehicle, locationinformation from the infrastructure element in proximity to the vehicle,from a transmitter of the infrastructure element via a messagetransmitted from the infrastructure element to the vehicle via ashort-range wireless connection, wherein the infrastructure elementcomprises a tunnel of a roadway on which the vehicle is travelling; andthe step of determining the position of the vehicle comprisesdetermining, via the processor onboard the vehicle, the position of thevehicle using the location information from the tunnel of the roadway onwhich the vehicle is travelling.
 7. The method of claim 1, wherein: thestep of obtaining the location information comprises, obtaining, via thereceiver onboard the vehicle, location information from theinfrastructure element in proximity to the vehicle, from a transmitterof the infrastructure element via a message transmitted from theinfrastructure element to the vehicle via a short-range wirelessconnection, wherein the infrastructure element comprises a parkinggarage in which the vehicle is travelling; and the step of determiningthe position of the vehicle comprises determining, via the processoronboard the vehicle, the position of the vehicle using the locationinformation from the parking garage in which the vehicle is travelling.8. A system comprising: a receiver configured to be installed onboard avehicle and to receive location information from a infrastructureelement in proximity to the vehicle; and a processor configured to beinstalled onboard the vehicle and to determine a position of the vehicleusing the location information from the infrastructure element.
 9. Thesystem of claim 8, wherein: the receiver is configured to obtain headinginformation from the infrastructure element in proximity to the vehicle;and the processor is configured to determine a heading of the vehicleusing the heading information from the infrastructure element.
 10. Thesystem of claim 8, wherein the processor is further configured to:obtain a first position value for the vehicle using a satellite basednavigation system; and update the first position value using theposition of the vehicle as determined using the location informationfrom the infrastructure element.
 11. The system of claim 8, wherein: thereceiver is configured to obtain the location information from atransmitter of the infrastructure element via a message transmitted fromthe infrastructure element to the vehicle via a short-range wirelessconnection, wherein the infrastructure element comprises aninfrastructure element of a roadway on which the vehicle is travelling;and the processor is configured to determine the position of the vehicleusing the location information from the infrastructure element of theroadway on which the vehicle is travelling.
 12. The system of claim 8,wherein: the receiver is configured to obtain the location informationfrom a transmitter of the infrastructure element via a messagetransmitted from the infrastructure element to the vehicle via ashort-range wireless connection, wherein the infrastructure elementcomprises a tunnel of a roadway on which the vehicle is travelling; andthe processor is configured to determine the position of the vehicleusing the location information from the tunnel of the roadway on whichthe vehicle is travelling.
 13. The system of claim 8, wherein: thereceiver is configured to obtain the location information from atransmitter of the infrastructure element via a message transmitted fromthe infrastructure element to the vehicle via a short-range wirelessconnection, wherein the infrastructure element comprises a parkinggarage in which the vehicle is travelling; and the processor isconfigured to determine the position of the vehicle using the locationinformation from the parking garage in which the vehicle is travelling.14. A vehicle comprising: one or more wheels; a drive system configuredto power the one or more wheels; a receiver installed onboard thevehicle, the receiver configured to receive location information from ainfrastructure element in proximity to the vehicle; and a processorinstalled onboard the vehicle, the processor configured to determine aposition of the vehicle using the location information from theinfrastructure element.
 15. The vehicle of claim 14, wherein: thereceiver is configured to obtain heading information from theinfrastructure element in proximity to the vehicle; and the processor isconfigured to determine a heading of the vehicle using the headinginformation from the infrastructure element.
 16. The vehicle of claim14, wherein the processor is further configured to: obtain a firstposition value for the vehicle using a satellite based navigationsystem; and update the first position value using the position of thevehicle as determined using the location information from theinfrastructure element.
 17. The vehicle of claim 14, wherein theprocessor is configured to replace the first position value with theposition of the vehicle as determined using the location informationfrom the infrastructure element, when the satellite based navigationsystem is unavailable.
 18. The vehicle of claim 14, wherein: thereceiver is configured to obtain the location information from atransmitter of the infrastructure element via a message transmitted fromthe infrastructure element to the vehicle via a short-range wirelessconnection, wherein the infrastructure element comprises aninfrastructure element of a roadway on which the vehicle is travelling;and the processor is configured to determine the position of the vehicleusing the location information from the infrastructure element of theroadway on which the vehicle is travelling.
 19. The vehicle of claim 14,wherein: the receiver is configured to obtain the location informationfrom a transmitter of the infrastructure element via a messagetransmitted from the infrastructure element to the vehicle via ashort-range wireless connection, wherein the infrastructure elementcomprises a tunnel of a roadway on which the vehicle is travelling; andthe processor is configured to determine the position of the vehicleusing the location information from the tunnel of the roadway on whichthe vehicle is travelling.
 20. The vehicle of claim 14, wherein: thereceiver is configured to obtain the location information from atransmitter of the infrastructure element via a message transmitted fromthe infrastructure element to the vehicle via a short-range wirelessconnection, wherein the infrastructure element comprises a parkinggarage in which the vehicle is travelling; and the processor isconfigured to determine the position of the vehicle using the locationinformation from the parking garage in which the vehicle is travelling.